function R = Euler2Frame(a)
%Euler2Frame
%   Detailed explanation goes here
    R = [cos(a(1))*cos(a(3))-sin(a(1))*cos(a(2))*sin(a(3)) -cos(a(1))*sin(a(3))-sin(a(1))*cos(a(2))*cos(a(3)) sin(a(1))*sin(a(2)); 
        0 0 0; 
        sin(a(2))*sin(a(3)) sin(a(2))*cos(a(3)) cos(a(2))];
    R(2,:) = cross(R(3,:), R(1,:));
end

